Risk-constrained Motion Planning for Robot Locomotion: Formulation and Running Robot Demonstration
Jacob Hackett,Wei Gao,Monica Daley,Jonathan Clark,Christian Hubicki,Jacob Hackett,Wei Gao,Monica Daley,Jonathan Clark,Christian Hubicki
Robots encounter many risks that threaten the success of practical locomotion tasks. Legs break, electrical components overheat, and feet can unexpectedly slip. When all risks cannot be completely avoided, how does a robot decide its best action? We present a method for planning robot motions by reasoning about risk-of-failure probabilities instead of applying cost-penalty functions or inflexible ...
